Semi-autonomous excavation control system

Abstract

An excavation control system for a machine is disclosed. The excavation control system may have a tool, at least one operator input device configured to provide manual control over movement of the tool, and a controller in communication with the at least one operator input device. The controller may be configured to receive an input related to an operator desired tool location, and determine that an operator is manually controlling movement of the tool toward the operator desired tool location. The controller may be further configured to automatically assume control over movement of the tool toward the operator desired tool location based on the determination.

1. An excavation control system, comprising:
 a tool; 
 at least one operator input device configured to provide manual control over movement of the tool; 
 a controller in communication with the at least one operator input device and being configured to:
 receive an input related to an operator desired tool location, 
 determine that an operator is in the process of manually controlling movement of the tool toward the operator desired tool location, and 
 automatically assume control over movement of the tool toward the operator desired tool location based on the determination that the operator is in the process of manually controlling movement of the tool toward the operator desired location; 
 
 at least one linkage member connected to the tool; and 
 at least one actuator controllable by the operator input device to move the tool, wherein the controller determines that the operator is manually controlling movement of the tool toward the desired tool location when a speed of the at least one actuator exceeds a threshold speed. 
 
     
     
       2. The excavation control system of  claim 1 , wherein the controller is configured to move the tool toward the desired tool location at a maximum speed. 
     
     
       3. The excavation control system of  claim 1 , wherein the controller is configured to move the tool toward the desired tool location in a smooth continuous trajectory. 
     
     
       4. The excavation control system of  claim 1 , wherein the controller is configured to relinquish automatic control over movement of the tool to the operator after the tool has reached the operator desired tool location. 
     
     
       5. The excavation control system of  claim 1 , wherein a location at which automatic control is assumed is different between excavation cycles. 
     
     
       6. The excavation control system of  claim 1 , wherein:
 the at least one actuator includes a first actuator configured to pivot the at least one linkage member in a first direction, and a second actuator configured to swing the at least one linkage member in a second direction; and 
 the controller determines that the operator is manually controlling movement of the tool toward the desired tool location when a pivot speed of the first actuator in a first direction exceeds a first threshold speed and a swing speed of the second actuator exceeds a second threshold speed. 
 
     
     
       7. The excavation control system of  claim 6 , wherein:
 the first threshold speed remains constant between excavation cycles; and 
 the second threshold speed varies based on a maximum swing speed achieved during a previous excavation cycle. 
 
     
     
       8. The excavation control system of  claim 7 , wherein the second threshold speed is a percent of the maximum swing speed achieved during the previous excavation cycle. 
     
     
       9. The excavation control system of  claim 6 , wherein:
 the at least one linkage member is a boom; 
 the excavation control system further includes:
 a stick member connecting the tool to the boom; 
 a stick actuator configured to move the stick member relative to the boom; and 
 a tool actuator configured to move the tool relative to the stick; and 
 
 the controller is configured to automatically assume control over the first actuator, the second actuator, the stick actuator, and the tool actuator when the pivot speed of the first actuator exceeds the first threshold speed and the swing speed of the second actuator exceeds the second threshold speed. 
 
     
     
       10. The excavation control system of  claim 6 , wherein the desired tool location is a dump location. 
     
     
       11. The excavation control system of  claim 10 , wherein the controller is further configured to:
 receive an input related to an operator desired dig location; 
 determine that an operator is manually controlling movement of the tool toward the operator desired dig location; and 
 automatically assume control over movement of the tool toward the operator desired dig location based on the determination. 
 
     
     
       12. The excavation control system of  claim 11 , wherein the controller determines that an operator is manually controlling movement of the tool toward the operator desired dig location based on a pivot direction of the first actuator and the swing speed of the second actuator exceeding the second threshold speed. 
     
     
       13. The excavation control system of  claim 1 , wherein the controller determines that an operator is manually controlling movement of the tool toward the operator desired to location further based on a position of the tool. 
     
     
       14. The excavation control system of  claim 1 , wherein the controller determines that the operator is manually controlling movement of the tool toward the desired tool location further based on an extension position of the at least one actuator. 
     
     
       15. A method of automatically moving a tool during an excavation cycle, the method comprising:
 receiving an input related to an operator desired tool location; 
 determining that an operator is in the process of manually controlling movement of the tool toward the operator desired tool location; 
 automatically assuming control over movement of the tool toward the operator desired tool location for only a swing segment of the excavation cycle, based on the determination that the operator is in the process of manually controlling movement of the tool toward the operator desired location; and 
 relinquishing automatic control over movement of the tool to the operator after the tool has reached the operator desired tool location. 
 
     
     
       16. The method of  claim 15 , wherein automatically assuming control includes moving the tool toward the desired tool location at a maximum speed and in a smooth continuous trajectory. 
     
     
       17. The method of  claim 15 , wherein a location at which automatic control is assumed is different between excavation cycles. 
     
     
       18. The method of  claim 15 , wherein determining includes detecting a pivot speed of the tool in a first direction exceeding a first threshold speed and a swing speed of the tool exceeding a second threshold speed, wherein the first threshold speed remains constant between excavation cycles, and the second threshold speed varies based on a maximum swing speed achieved during a previous excavation cycle. 
     
     
       19. The method of  claim 18 , wherein automatically assuming control over movement of the tool includes assuming control over movement of the tool in both the pivot direction and a swing direction. 
     
     
       20. The method of  claim 18 , further including:
 receiving an input related to an operator desired dig location; 
 determining that an operator is manually controlling movement of the tool toward the operator desired dig location; and 
 automatically assuming control over movement of the tool toward the operator desired dig location based on the determination, 
 wherein determining that an operator is manually controlling movement of the tool toward the operator desired dig location is based only on a pivot direction of the tool and the swing speed of the tool. 
 
     
     
       21. A machine, comprising:
 a frame; 
 a boom member connected to the frame; 
 a first boom actuator configured to pivot the boom member relative to the frame; 
 a second boom actuator configured to swing the boom member relative to the frame; 
 a tool operatively connected to the boom member; 
 at least one operator input device configured to provide manual control over movement of the tool; and 
 a controller in communication with the at least one operator input device and being configured to:
 receive an input related to an operator desired tool location; 
 determine that an operator is in the process of manually controlling movement of the tool toward the operator desired tool location when an operational parameter indicative of movement of the tool reaches a threshold; 
 automatically assume control over movement of the tool toward the operator desired tool location based on the determination that the operator is in the process of manually controlling movement of the tool toward the operator desired tool location; and 
 relinquish automatic control over movement of the tool to the operator after the tool has reached the operator desired tool location. 
 
 
     
     
       22. An excavation control system, comprising:
 a tool; 
 at least one operator input device configured to provide manual control over movement of the tool; 
 a controller in communication with the at least one operator input device and being configured to:
 receive an input related to an operator desired tool location, 
 determine that an operator is in the process of manually controlling movement of the tool toward the operator desired tool location, 
 automatically assume control over movement of the tool toward the operator desired tool location based on the determination that the operator is in the process of manually controlling movement of the tool toward the operator desired location, and 
 relinquish automatic control over movement of the tool to the operator after the tool has reached the operator desired tool location. 
 
 
     
     
       23. The excavation control system of  claim 22 , wherein the controller is configured to move the tool toward the desired tool location at a maximum speed. 
     
     
       24. The excavation control system of  claim 22 , wherein the controller is configured to move the tool toward the desired tool location in a smooth continuous trajectory. 
     
     
       25. The excavation control system of  claim 22 , wherein a location at which automatic control is assumed is different between excavation cycles. 
     
     
       26. The excavation control system of  claim 22 , wherein the controller determines that an operator is manually controlling movement of the tool toward the operator desired tool location based on a position of the tool. 
     
     
       27. The excavation control system of  claim 22 , further including at least one actuator controllable by the operator input device to move the tool, wherein the controller determines that the operator is manually controlling movement of the tool toward the desired tool location based on an extension position of the at least one actuator.